An adaptive control scheme for leader-following consensus of multi-agent systems with parametric uncertainties
Ge Song, Gang Tao · 2017
This paper studies a leader-following consensus problem of multi-agent systems where the leader and the followers both have parametric uncertainties and some unknown disturbances act on the followers. The control objective is to make the followers follow the active leader with a desired trajectory in the presence of such uncertainties. An adaptive control method is adopted to solve this problem. A new adaptive control scheme is first proposed dealing with parametric uncertainties without disturbances. Then, in order to cancel the effect of disturbances, an adaptive disturbance compensator is developed. Under some design conditions, the proposed compensation scheme has the capability to guarantee that all agents can reach an agreement asymptotically with disturbances acting on the follower agents. Simulation results illustrate the effectiveness of the proposed adaptive control schemes in dealing with system and disturbance uncertainties.